brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
Download Patch File Download Diff File Expand all files Collapse all files

161
selfdrive/car/gm/interface.py
View File

@@ -1,6 +1,6 @@
#!/usr/bin/env python3
import os
from cereal import car
from cereal import car, custom
from math import fabs, exp
from panda import Panda
@@ -19,12 +19,12 @@ TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
ACCELERATOR_POS_MSG = 0xbe
PEDAL_MSG = 0x201
CAM_MSG = 0x320 # AEBCmd
# TODO: Is this always linked to camera presence?
PEDAL_MSG = 0x201
ACCELERATOR_POS_MSG = 0xbe
NON_LINEAR_TORQUE_PARAMS = {
CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
@@ -83,8 +83,8 @@ class CarInterface(CarInterfaceBase):
return float(self.neural_ff_model.predict(inputs)) + friction
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
if self.CP.carFingerprint in [CAR.BOLT_EUV, CAR.BOLT_CC]:
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, CAR.BOLT_EUV)
if self.CP.carFingerprint in (CAR.BOLT_EUV, CAR.BOLT_CC):
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
return self.torque_from_lateral_accel_neural
elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
return self.torque_from_lateral_accel_siglin
@@ -92,18 +92,17 @@ class CarInterface(CarInterfaceBase):
return self.torque_from_lateral_accel_linear
@staticmethod
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
params.put_bool("HideDisableOpenpilotLongitudinal", candidate not in (SDGM_CAR | CAMERA_ACC_CAR))
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
if PEDAL_MSG in fingerprint[0]:
ret.enableGasInterceptor = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
useEVTables = params.get_bool("EVTable")
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
else:
@@ -137,7 +136,7 @@ class CarInterface(CarInterfaceBase):
if experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
elif candidate in SDGM_CAR:
@@ -150,17 +149,18 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
# supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.minSteerSpeed = (6.7 if useEVTables else 7) * CV.MPH_TO_MS
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
# Tuning
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiV = [0.36]
if ret.enableGasInterceptor:
# Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
@@ -170,20 +170,13 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.tireStiffnessFactor = 0.444 # not optimized yet
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
if candidate in (CAR.VOLT, CAR.VOLT_CC):
ret.minEnableSpeed = -1 if params.get_bool("LowerVolt") else ret.minEnableSpeed
ret.mass = 1607.
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.minEnableSpeed = -1
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
@@ -191,74 +184,20 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
# softer long tune for ev table
if useEVTables:
ret.longitudinalTuning.kpBP = [5., 15., 35.]
ret.longitudinalTuning.kpV = [0.65, .9, 0.8]
ret.longitudinalTuning.kiBP = [5., 15.]
ret.longitudinalTuning.kiV = [0.04, 0.1]
ret.steerActuatorDelay = 0.18
ret.stoppingDecelRate = 0.02 # brake_travel/s while trying to stop
ret.stopAccel = -0.5
ret.startAccel = 0.8
ret.vEgoStopping = 0.1
elif candidate == CAR.MALIBU:
ret.mass = 1496.
ret.wheelbase = 2.83
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
elif candidate == CAR.HOLDEN_ASTRA:
ret.mass = 1363.
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 15.7
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG
ret.wheelbase = 2.86
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_LACROSSE:
ret.mass = 1712.
ret.wheelbase = 2.91
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG # (3849+3708)/2
ret.wheelbase = 2.83 # 111.4 inches in meters
ret.steerRatio = 14.4 # guess for tourx
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
elif candidate == CAR.CADILLAC_ATS:
ret.mass = 1601.
ret.wheelbase = 2.78
ret.steerRatio = 15.3
ret.centerToFront = ret.wheelbase * 0.5
elif candidate == CAR.ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 5653. * CV.LB_TO_KG # (5552+5815)/2
ret.wheelbase = 2.95 # 116 inches in meters
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 2739.
ret.wheelbase = 3.302
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
ret.tireStiffnessFactor = 1.0
if candidate == CAR.ESCALADE_ESV:
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
@@ -269,11 +208,6 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.BOLT_EUV, CAR.BOLT_CC):
ret.mass = 1669.
ret.wheelbase = 2.63779
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -282,11 +216,6 @@ class CarInterface(CarInterfaceBase):
ret.flags |= GMFlags.PEDAL_LONG.value
elif candidate == CAR.SILVERADO:
ret.mass = 2450.
ret.wheelbase = 3.75
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * 0.5
ret.tireStiffnessFactor = 1.0
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
# TODO: check if this is split by EV/ICE with more platforms in the future
@@ -295,61 +224,33 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.EQUINOX, CAR.EQUINOX_CC):
ret.mass = 3500. * CV.LB_TO_KG
ret.wheelbase = 2.72
ret.steerRatio = 14.4
ret.centerToFront = ret.wheelbase * 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.TRAILBLAZER, CAR.TRAILBLAZER_CC):
ret.mass = 1345.
ret.wheelbase = 2.64
ret.steerRatio = 16.8
ret.centerToFront = ret.wheelbase * 0.4
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.SUBURBAN, CAR.SUBURBAN_CC):
ret.mass = 2731.
ret.wheelbase = 3.302
ret.steerRatio = 17.3 # COPIED FROM SILVERADO
ret.centerToFront = ret.wheelbase * 0.49
ret.steerActuatorDelay = 0.075
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.YUKON_CC:
ret.minSteerSpeed = -1 * CV.MPH_TO_MS
ret.mass = 5602. * CV.LB_TO_KG # (3849+3708)/2
ret.wheelbase = 2.95 # 116 inches in meters
ret.steerRatio = 16.3 # guess for tourx
ret.steerRatioRear = 0. # unknown online
ret.centerToFront = 2.59 # ret.wheelbase * 0.4 # wild guess
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.XT4:
ret.mass = 3660. * CV.LB_TO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4
ret.centerToFront = ret.wheelbase * 0.4
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BABYENCLAVE:
ret.steerActuatorDelay = 0.2
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CT6_CC:
ret.wheelbase = 3.11
ret.mass = 5198. * CV.LB_TO_KG
ret.centerToFront = ret.wheelbase * 0.4
ret.steerRatio = 17.7
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.TRAX:
ret.mass = 1365.
ret.wheelbase = 2.7
ret.steerRatio = 16.4
ret.centerToFront = ret.wheelbase * 0.4
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if ret.enableGasInterceptor:
@@ -357,7 +258,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = -1
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.openpilotLongitudinalControl = not disable_openpilot_long
ret.stoppingControl = True
ret.autoResumeSng = True
@@ -383,7 +284,7 @@ class CarInterface(CarInterfaceBase):
ret.radarUnavailable = True
ret.experimentalLongitudinalAvailable = False
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.openpilotLongitudinalControl = not disable_openpilot_long
ret.pcmCruise = False
ret.longitudinalTuning.deadzoneBP = [0.]
@@ -400,6 +301,9 @@ class CarInterface(CarInterfaceBase):
if candidate in CC_ONLY_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
# Exception for flashed cars, or cars whose camera was removed
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
ret.flags |= GMFlags.NO_CAMERA.value
@@ -416,11 +320,16 @@ class CarInterface(CarInterfaceBase):
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS)
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS),
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
{1: ButtonType.gapAdjustCruise}),
*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
]
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(ret, frogpilot_variables, extra_gears=[GearShifter.sport, GearShifter.low,
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
if not self.CP.pcmCruise:
@@ -431,9 +340,9 @@ class CarInterface(CarInterfaceBase):
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
(self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
(self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill and not self.CP.autoResumeSng and not self.disable_resumeRequired:
if ret.cruiseState.standstill and not self.disable_resumeRequired and not self.CP.autoResumeSng:
events.add(EventName.resumeRequired)
self.resumeRequired_shown = True
@@ -446,7 +355,7 @@ class CarInterface(CarInterfaceBase):
self.belowSteerSpeed_shown = True
# Disable the "belowSteerSpeed" event after it's been shown once to not annoy the driver
if self.belowSteerSpeed_shown and ret.vEgo > self.CP.minSteerSpeed:
if self.belowSteerSpeed_shown and ret.vEgo >= self.CP.minSteerSpeed:
self.disable_belowSteerSpeed = True
if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled: